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autotest: add test for Plane MANUAL_CONTROL handling

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Peter Barker 2022-11-23 11:04:52 +11:00 committed by Andrew Tridgell
parent 38ea1b4039
commit ce6763cc91
1 changed files with 41 additions and 0 deletions
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41
Tools/autotest/arduplane.py
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@ -4037,6 +4037,46 @@ class AutoTestPlane(AutoTest):
else:
raise NotAchievedException("Missing trick %s" % t)
def MANUAL_CONTROL(self):
'''test MANUAL_CONTROL mavlink message'''
self.set_parameter("SYSID_MYGCS", self.mav.source_system)
self.progress("Takeoff")
self.takeoff(alt=50)
self.change_mode('FBWA')
tstart = self.get_sim_time_cached()
roll_input = -500
want_roll_degrees = -12
while True:
if self.get_sim_time_cached() - tstart > 10:
raise AutoTestTimeoutException("Did not reach roll")
self.progress("Sending roll-left")
self.mav.mav.manual_control_send(
1, # target system
32767, # x (pitch)
roll_input, # y (roll)
32767, # z (thrust)
32767, # r (yaw)
0) # button mask
m = self.mav.recv_match(type='ATTITUDE', blocking=True, timeout=1)
print("m=%s" % str(m))
if m is None:
continue
p = math.degrees(m.roll)
self.progress("roll=%f want<=%f" % (p, want_roll_degrees))
if p <= want_roll_degrees:
break
self.mav.mav.manual_control_send(
1, # target system
32767, # x (pitch)
32767, # y (roll)
32767, # z (thrust)
32767, # r (yaw)
0) # button mask
self.fly_home_land_and_disarm()
def tests(self):
'''return list of all tests'''
ret = super(AutoTestPlane, self).tests()
@ -4115,6 +4155,7 @@ class AutoTestPlane(AutoTest):
self.MidAirDisarmDisallowed,
self.EmbeddedParamParser,
self.AerobaticsScripting,
self.MANUAL_CONTROL,
])
return ret